KR20180099714A - Shovel - Google Patents

Abstract

Provides a shovel that can improve work efficiency. The shovel includes a lower traveling body for performing a traveling operation, an upper swinging body pivotably mounted on the lower traveling body, an attachment mounted on the upper swinging body, a ground shape acquisition for acquiring a current ground shape And a recommendation line calculating unit for calculating a recommendation line suitable for digging with the attachment in the current ground shape acquired by the ground shape obtaining unit, And a display device.

Description

Shovel

The present invention relates to a shovel.

The operator of the shovel operates the various operation levers to move the attachment, for example, to perform an operation such as digging so that the work object becomes the target shape. In such excavation work, it is difficult for the operator to precisely dig up the shape to the target shape with the naked eye.

Therefore, a guiding screen including a target surface line, which is a line segment representing a section of the target surface based on the position information of the design surface representing the target shape of the work subject, and an extension line extending the target surface line and a position of the blade tip of the bucket A display system of a hydraulic pressure shovel is known (see, for example, Patent Document 1).

Patent Document 1: JP-A-2014-148893

It is necessary for the operator to judge based on his experience how to perform the excavation work from the current ground shape even in the case of performing the work with the showbell having the display system according to Patent Document 1. Therefore, unless it is an experienced worker, it takes time to complete the excavation work, which may lower the working efficiency.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a shovel capable of improving working efficiency.

According to one aspect of the present invention, there is provided a shovel comprising: a lower traveling body for performing a traveling operation; an upper swinging body pivotally mounted on the lower traveling body; an attachment mounted on the upper swinging body; A recommended line calculating unit for calculating a recommended line suitable for digging with the attachment in the current ground shape acquired by the ground shape obtaining unit; And a display device for displaying the recommended line.

According to the embodiment of the present invention, a shovel capable of improving work efficiency is provided.

BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a side view of a shovel according to one embodiment.
Fig. 2 is a side view of a shovel illustrating output contents of various sensors constituting an attitude detecting device mounted on the shovel of Fig. 1. Fig.
Fig. 3 is a diagram illustrating a configuration of a drive system mounted on the shovel of Fig. 1;
4 is a functional block diagram illustrating a configuration of a controller.
5 is a diagram illustrating an example of an image displayed on a display device when excavating sand.
6 is a diagram illustrating an image displayed on the display device when excavating the clayey.
7 is a diagram illustrating an example of an image displayed on a display device when a plurality of cycles of sandy soil are excavated.
8 is a diagram illustrating an example of an image displayed on a display device when sandy soil is excavated by adding a buried material.
9 is a diagram showing an example of an image when the excavating operation is viewed from the upper surface.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, modes for carrying out the invention will be described with reference to the drawings. In the drawings, the same constituent parts are denoted by the same reference numerals, and redundant description may be omitted.

[First Embodiment]

First, a shovel according to an embodiment of the present invention will be described. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a side view of a shovel according to an embodiment of the present invention; Fig.

An upper revolving structure 3 is mounted on a lower traveling body 1 of a shovel via a revolving mechanism 2. A boom (4) is mounted on the upper revolving structure (3). An arm 5 is attached to the front end of the boom 4 and a bucket 6 is attached to the front end of the arm 5. [ The boom 4, the arm 5 and the bucket 6 are hydraulically driven by the boom cylinder 7, the arm cylinder 8 and the bucket cylinder 9, respectively. The boom 4, the arm 5 and the bucket 6 as working elements constitute a digging attachment. However, the attachment may be other attachment such as an attachment of a floor moat, a landing attachment, and a dredging attachment.

The upper revolving structure 3 is provided with a cabin 10 and a power source such as the engine 11 is mounted. The upper swing body 3 is provided with a communication device M1, a positioning device M2, an orientation detecting device M3, and a front camera S1.

The communication device M1 is a device that controls communication between the shovel and the outside. In this embodiment, the communication device M1 controls the radio communication between the Global Navigation Satellite System (GNSS) surveying system and the showboy. Specifically, the communication device M1 acquires the topographical information of the work site at the start of the work of the showbell at a frequency of once a day, for example. The GNSS surveying system employs, for example, a network-type RTK-GNSS positioning method.

The positioning device M2 is a device for measuring the position and direction of the shovel. In the present embodiment, the positioning device M2 is a GNSS receiver incorporating an electronic compass, measures the latitude, longitude and altitude of the present location of the shovel, and also measures the direction of the shovel.

The posture detecting device M3 is an apparatus for detecting posture of an attachment part such as the boom 4, the arm 5, and the bucket 6. [

The front camera S1 is an imaging device for imaging the front of the shovel. The front camera S1 images the ground shape after being excavated by the attachment.

Fig. 2 is a side view of a showbell showing an example of output contents of various sensors constituting an attitude detecting device M3 mounted on a shovel according to the present embodiment. Fig. Specifically, the posture detecting device M3 includes a boom angle sensor M3a, a rocking angle sensor M3b, a bucket angle sensor M3c, and a vehicle body inclination sensor M3d.

The boom angle sensor M3a is a sensor for acquiring the boom angle [theta] 1, for example, a rotation angle sensor for detecting the rotation angle of the boom foot pin, a stroke sensor for detecting the stroke amount of the boom cylinder 7, (Acceleration) sensor for detecting the inclination angle of the object 4, and the like. The boom angle? 1 is an angle with respect to a horizontal line of a line connecting the boom foot pin position P1 and the arm connection pin position P2 in the XZ plane.

The rocking angle sensor M3b is a sensor for acquiring the rocking angle [theta] 2, and includes, for example, a rotation angle sensor for detecting the rotation angle of the female connection pin, a stroke sensor for detecting the stroke amount of the arm cylinder 8, (Acceleration) sensor for detecting the inclination angle of the object 5, and the like. The rock angle θ2 is an angle with respect to a horizontal line of a line connecting the arm connecting pin position P2 and the bucket connecting pin position P3 in the XZ plane.

The bucket angle sensor M3c is a sensor for acquiring the bucket angle 3 and includes, for example, a rotation angle sensor for detecting the rotation angle of the bucket coupling pin, a stroke sensor for detecting the stroke amount of the bucket cylinder 9, (Acceleration) sensor for detecting the tilt angle of the tilt sensor 6 and the like. The bucket angle 3 is an angle with respect to a horizontal line of a line connecting the bucket coupling pin position P3 and the bucket coupling position P4 in the XZ plane.

The vehicle body inclination sensor M3d is a sensor for acquiring an inclination angle [theta] 4 around the Y axis of the shovel and an inclination angle [theta] 5 (not shown) about the X axis of the shovel, for example, Acceleration) sensor and the like. Note that the XY plane in Fig. 2 is a horizontal plane.

Fig. 3 is a diagram showing a configuration example of a driveline mounted on a shovel according to the present embodiment, in which the mechanical power transmission line, the high-pressure hydraulic line, the pilot line, and the electric control line are shown as double lines, solid lines, dashed lines, Respectively.

The drive system of the shovel mainly includes an engine 11, main pumps 14L and 14R, a pilot pump 15, a control valve 17, an operation device 26, an operation content detection device 29, .

The engine 11 is, for example, a diesel engine that operates to maintain a predetermined number of revolutions. The output shaft of the engine 11 is connected to the input shafts of the main pumps 14L and 14R and the pilot pump 15. [

The main pumps 14L and 14R are devices for supplying the hydraulic oil to the control valve 17 through the high-pressure hydraulic line and are, for example, swash plate type variable displacement hydraulic pumps. The discharge pressure of the main pumps 14L and 14R is detected by the discharge pressure sensor 18. [ The values of the discharge pressures of the main pumps 14L and 14R detected by the discharge pressure sensor 18 are output to the controller 30. [

The pilot pump 15 is a device for supplying operating oil to various hydraulic control devices such as the operating device 26 through the pilot line 25 and is, for example, a fixed capacity type hydraulic pump.

The control valve 17 is a hydraulic control device for controlling the hydraulic system in the shovel. The control valve 17 includes flow control valves 171 to 176 for controlling the flow of hydraulic fluid discharged from the main pumps 14L and 14R. The control valve 17 is connected to the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor 1A (for the left side) And selectively supplies hydraulic oil discharged from the main pumps 14L and 14R to one or more of the hydraulic motor 1B (for the right side) and the swing hydraulic motor 2A. In the following description, the boom cylinder 7, the arm cylinder 8, the bucket cylinder 9, the traveling hydraulic motor 1A (for the left side), the traveling hydraulic motor 1B (for the right side) The hydraulic motor 2A is collectively referred to as a "hydraulic actuator ".

The operating device 26 is an apparatus used by an operator for operating the hydraulic actuator. In the present embodiment, the operating device 26 supplies the working oil discharged by the pilot pump 15 to the pilot port of the flow control valve corresponding to each of the hydraulic actuators via the pilot line 25. [ However, the pressure (pilot pressure) of the operating oil supplied to each of the pilot ports is a pressure corresponding to the operating direction and the operating amount of the lever or pedal (not shown) of the operating device 26 corresponding to each of the hydraulic actuators.

The operation content detecting device 29 is an apparatus for detecting the operation contents of the operator using the operation device 26. [ In the present embodiment, the operation contents detection device 29 detects the operation direction and the operation amount of the lever or pedal of the operation device 26 corresponding to each of the hydraulic actuators in the form of pressure, and outputs the detected value to the controller 30 . However, the contents of the operation of the operating device 26 may be derived using an output of a sensor other than a pressure sensor such as a potentiometer.

The controller 30 is a control device for controlling the shovel, and is constituted by a computer including a CPU, a RAM, a nonvolatile memory, and the like. The controller 30 reads a program corresponding to various functional elements from the ROM, loads the programs into the RAM, and causes the CPU to execute processing corresponding to the various functional elements.

The controller 30 is connected to the discharge pressure sensor 18, the display device 50, the communication device M1, the positioning device M2, the orientation detecting device M3, and the front camera S1. The controller 30 performs various calculations based on various data input from the discharge pressure sensor 18, the communication device M1, the positioning device M2, the orientation detecting device M3, and the front camera S1 And outputs the result of the calculation to the display device 50.

The display device 50 is mounted inside the cabin 10 at a position where the operator can visually recognize the display screen and displays the calculation result by the controller 30. [ However, the display device 50 may be a wearable device integrally provided in, for example, a goggles mounted on an operator. The visibility of the displayed information is improved, and the operator of the showbell can perform the work more efficiently.

Next, the function of the controller 30 will be described. Fig. 4 is a functional block diagram illustrating the configuration of the controller 30. Fig.

4, the controller 30 includes a terrain database updating unit 31, a position coordinate updating unit 32, a ground shape obtaining unit 33, a soil quality detecting unit 34, and a recommended line calculating unit 35 ).

The terrain database updating unit 31 is a functional element for updating the terrain database systematically configuring the terrain information of the job site so that the terrain information can be referred to. In the present embodiment, the terrain database updating unit 31 acquires the terrain information of the job site via the communication device M1, for example, when the shovel is activated, and updates the terrain database. The terrain database is stored in a nonvolatile memory or the like. In addition, the topographical information of the work site is described, for example, as a three-dimensional topographical model based on the world hierarchy.

The position coordinate update unit 32 is a functional element for updating the coordinates and the direction indicating the current position of the shovel. In the present embodiment, the position coordinate update unit 32 obtains the position coordinates and direction of the shovel in the world hierarchical system based on the output of the positioning apparatus M2, and obtains the current position of the shovel in the nonvolatile memory or the like And updates the data related to the coordinates and the direction indicating the coordinates.

The paper shape obtaining unit 33 is a function element for obtaining information on the current shape of the paper to be worked. In the present embodiment, the ground shape obtaining unit 33 obtains the ground shape information from the topography information updated by the terrain database updating unit 31 based on the coordinates and the direction indicating the current position of the shovel updated by the position coordinate updating unit 32 , And obtains the initial shape of the ground of the work subject before excavation.

The ground shape obtaining section 33 calculates the current shape of the ground to be worked after being excavated with the showbell based on the past transition of the attitude of the attachment detected by the attitude detecting device M3. The ground shape obtaining section 33 may calculate the current shape of the ground of the object to be ground after being excavated by the showboy on the basis of the image pickup result of the ground surface after excavation by the front camera S1. The ground shape obtaining section 33 obtains the ground shape of the image pickup device based on both the past transition of the attitude of the attachment detected by the attitude detecting device M3 and the image data of the ground surface after being picked up by the front camera S1, The current shape of the ground to be worked after excavation may be calculated.

As described above, the paper shape obtaining section 33 obtains the initial shape of the paper to be worked before excavation of the shovel, and calculates the current shape of the paper to be worked after excavation every time excavation is performed by the shovel. The ground surface shape obtaining section 33 obtains the ground shape obtaining section 33 such that the boom 4 descends and the arm 5 and the bucket 6 rotate to dig a ground to be a work object and the boom 4 rises again, Every time excavation is performed, the current shape of the ground to be worked after excavation is calculated.

The soil detection unit 34 is a functional element for detecting the soil quality of the ground to be worked. The soil detection unit 34 detects the soil on the ground of the work subject based on the discharge pressures of the main pumps 14L and 14R output from the discharge pressure sensor 18 during excavation. The soil detection unit 34 determines whether or not the bucket 6 is in contact with the ground surface of the object to be machined to perform excavation based on the attitude of the attachment detected by the attitude detection device M3, To obtain the value of the discharge pressure to detect the soil.

The main pumps 14L and 14R are controlled so that the output horsepower is lowered and the main pumps 14L and 14R (14R and 14R) are controlled so that the output horsepower is lowered because the excavation can be performed without requiring a large output horsepower, Is lowered. Therefore, when the value of the discharge pressure of the main pumps 14L, 14R detected by the discharge pressure sensor 18 during excavation, for example, is less than a preset threshold value, Is judged to be sand.

When the ground surface of the object to be worked is clayey soil, for example, a large output horsepower is required for excavation and the main pumps 14L and 14R are controlled so that the output horsepower is increased, and the discharge pressures of the main pumps 14L and 14R . Therefore, when the value of the discharge pressure of the main pumps 14L, 14R detected by the discharge pressure sensor 18 at the time of excavation, for example, is equal to or larger than a preset threshold value, Is a clayey soil.

However, in addition to the sandy soil and the viscous soil, the soil detection unit 34 may judge the unglazed soil or the like based on the value of the discharge pressure of the main pumps 14L and 14R detected by the discharge pressure sensor 18. The soil quality detector 34 may also detect the soil on the ground of the work subject based on at least one of the boom cylinder pressure, the arm cylinder pressure, and the bucket cylinder pressure during excavation.

The recommended line calculating section 35 is a functional element for calculating a recommended line suitable for digging in the current floor shape of the work to be obtained or calculated by the floor shape obtaining section 33. [ The recommended line calculating section 35 calculates the recommended line calculating section 35 based on the capacity of the bucket 6 mounted as an attachment and the soil quality of the ground to be worked which is detected by the soil quality detecting section 34 And a recommended line suitable for digging is calculated. In the present embodiment, the recommended line is indicated by the locus of the claws of the bucket 6.

The recommended line calculating section 35 defines a recommended line with a digging depth and a digging length. For example, in the case where the ground surface of the work subject is sandy soil, the bucket 6 can be drilled deeply into the ground and rotated by a low horsepower. Therefore, when the ground surface of the work subject is a sandy soil, the recommended line calculating section 35 calculates a recommended line so that the depth of excavation becomes deep and the excavation length becomes short. The excavation depth and excavation length are obtained on the basis of the capacity of the bucket 6, the maximum load to be loaded, and the like.

Further, in the case where the ground surface of the object to be worked is clayey soil, for example, an excavating operation for deeply inserting the bucket 6 into the ground and rotating the bucket 6 may require high horsepower, and energy consumption such as fuel consumption may be deteriorated. Therefore, when the ground surface of the work to be worked is clayey soil, the recommended line calculating section 35 calculates a recommended line so that the excavation depth is shallower and the excavation length is longer than when the ground surface of the work subject is sandy soil.

Each time the excavation is performed by the shovel, the recommended line calculating section 35 calculates a recommended line for the current shape of the ground to be worked after excavation. As described above, when one cycle of excavation is performed by the shovel, the current shape of the ground to be worked after excavation is calculated by the ground shape obtaining unit 33. The recommended line calculating unit 35 calculates a recommended line suitable for excavating the current shape of the calculated ground when the ground shape obtaining unit 33 calculates the current shape of the ground to be ground after the excavation .

The recommended line calculating section 35 calculates the attitude of the attachment such as the angle of the bucket 6 suitable for excavation along the recommended line thus calculated. The recommended line calculating section 35 calculates the angle of the bucket 6 when excavating along a recommended line, for example. However, the recommended line calculating section 35 may calculate the angles of the boom 4 and the arm 5, which are suitable for excavation along the recommended line.

The recommended line calculating section 35 calculates the recommended line calculating section 35 based on the current shape of the ground to be worked or obtained by the ground shape obtaining section 33, the recommended line with respect to the current shape of the ground to be worked, To the display device (50).

The display device 50 displays on the screen the current shape and the recommended line of the ground to be worked out, which is outputted from the recommended line calculating section 35. [ The display device 50 displays on the screen the current position of the attachment detected by the posture detecting device M3 and the angle of the bucket 6 when excavating along the recommended line.

Fig. 5 exemplifies an image 51 displayed by the display device 50. Fig. Fig. 5 exemplifies an image 51 in the case of excavating the sand. 5, the bucket current position 61 indicating the current position of the bucket 6 and the current shape 71 of the work surface of the work subject are indicated by a solid line in the image 51. As shown in Fig.

When the attachment of the shovel is operated by the operator and the claw of the bucket 6 is inserted into the ground surface, the soil of the ground to be worked is detected by the soil detection unit 34, and the recommended line calculation unit 35 calculates, . The recommended line calculating section 35 calculates the angle of the bucket 6 when excavating along the recommended line. 5, when the recommended line and the angle of the bucket 6 are calculated by the recommended line calculating unit 35, the recommended line 72 for the current shape 71 of the ground to be worked on is indicated by a dashed line do. In addition, as the excavation position of the attachment, the bucket excavation positions 62, 63, 64 in the case of excavation along the recommended line 72 are indicated by broken lines.

When the operator manipulates the attachment, the bucket current position 61 is displayed so as to be displaced in accordance with the actual motion in the image 51 based on the detection result of the posture detecting device M3. The operator manipulates the attachment so that the bucket 6 moves along the recommended line 72 while watching the image 51 displayed on the display device 50. [ In addition, the bucket 6 is rotated so as to match the angles indicated by the bucket excavation positions 62, 63,

When the attachment is operated by the operator and the excavation along the recommended line 72 is executed and the boom 4 is pulled up and the digging operation of one cycle is completed, Is updated to the ground shape after excavation. The shape of the ground after the excavation is determined by the ground shape obtaining unit 33 on at least one of the past transition of the attitude of the attachment detected by the attitude detecting device M3 and the image of the ground surface after the excavation .

A recommended line for the current shape of the ground after excavation is calculated by the recommended line calculating unit 35, and the recommended line 72 in the image 51 is updated and displayed. The operator of the shovel can advance the excavation work while viewing the current shape 71 and the recommended line 72 of the ground which is updated and displayed as the image 51 every time excavation is performed with the attachment.

As described above, the operator of the shovel operates the attachment while viewing the image 51 displayed on the display device 50, and excavates along the recommended line, thereby enabling efficient operation in a short time.

6 is a diagram illustrating an image 51 displayed on the display device 50 when excavating the clayey. In the case of excavating the clayey soil, as in the case of excavating the sandy soil, if the bucket 6 is inserted deeply into the ground and rotated, a large power is required and energy consumption such as fuel consumption may increase. Therefore, when the soil of the object to be worked is detected as the clayey soil by the soil detection unit 34, the recommended line calculating unit 35 calculates the excavation depth D2 (FIG. 5) (D2 < D1) and the excavation length L2 is longer (L2 > L1).

Likewise, when the ground to be worked is the clayey soil, excavation along the recommended line 72 is carried out and the boom 4 is pulled up and the excavation work of one cycle is completed, The shape 71 and the recommended line 72 are updated and displayed.

Thus, by displaying the recommended line according to the soil quality of the ground to be worked on, for example, the operator can insert the bucket 6 more deeply than necessary on the ground, without degrading fuel economy, It is possible to advance the excavation work.

As described above, according to the shovel according to the present embodiment, the display device 50 displays the current shape of the ground to be worked and a recommended line suitable for excavation together with the current position of the bucket 6. The operator of the shovel can perform the excavation work along the recommended line, so that the work can be efficiently carried out even if the operator is not skilled in excavation work.

[Second Embodiment]

In the first embodiment, each time the attachment is operated by the operator, and the digging is performed, the present shape of the ground is updated, and the next recommended line is calculated and displayed. On the other hand, in the second embodiment, when a plurality of cycles of excavation work are required until reaching the vicinity of the target surface, the recommended lines for a plurality of cycles are calculated in advance and displayed collectively. Thus, when the operator performs excavation work several times in the future, it is possible to easily grasp whether the operator reaches the vicinity of the target surface.

7 is a diagram illustrating an example of an image displayed on a display device when a plurality of cycles of sandy soil are excavated. 5, the bucket current position 61 indicating the current position of the bucket 6 and the current shape 71 of the work surface of the work subject are indicated by solid lines in the image 51 shown in Fig.

When the attachment of the shovel is operated by the operator and the claw of the bucket 6 is inserted into the ground surface, the soil quality of the ground to be worked is detected by the soil detection unit 34. The recommended line calculating section 35 calculates the first recommended line, which is a recommended line in the excavation work for the first cycle. In addition, the recommended line calculating section 35 calculates the angle of the bucket 6 when excavating along the first recommended line.

The recommended line calculating section 35 calculates the first recommended line and the angle of the bucket 6 as shown in Fig. 7, the first recommended line 72 for the current shape 71 of the work ground, Is indicated by a dashed line. In addition, as the excavation position of the attachment, the bucket excavation positions 62, 63, 64 in the case of excavation along the recommended line 72 are indicated by broken lines.

Here, it is assumed that the position of the target surface 100 is set in advance in the recommended line calculating section 35. [ Therefore, when the calculation of the first recommendation line 72 is completed, the recommended line calculating unit 35 determines whether the calculated first recommendation line 72 is included in the vicinity range 101 of the target surface 100 Or not. However, it is assumed that the neighborhood range 101 is set based on the digging depth D2 for one cycle, for example.

When it is determined that the calculated first recommended line 72 is not included in the neighborhood range 101, the recommended line calculating unit 35 calculates the second recommendation line 72, which is a recommended line in the case of performing the second cycle excavation work, And the line 73 is calculated. When the calculation of the second recommendation line 73 is finished, the recommendation line calculating section 35 determines whether or not the calculated second recommendation line 73 is included in the neighborhood area 101 of the target surface 100 .

When it is determined that the calculated second recommendation line 73 is not included in the neighborhood range 101, the recommended line calculating section 35 calculates the second recommendation line 73, which is the recommended line in the case of performing the third excavation work, 3 recommended line (74). When the calculation of the third recommendation line 74 is completed, the recommendation line calculating unit 35 determines whether or not the calculated third recommendation line 74 is included in the neighborhood range 101 of the target plane 100 .

When it is determined that the calculated third recommendation line 74 is included in the neighborhood range 101, the recommendation line calculating unit 35 calculates the second recommendation line 72 in addition to the first recommendation line 72, 73 and 74 are indicated by broken lines.

As described above, according to the second embodiment, the operator can easily grasp the cycle number of the excavation work until reaching the vicinity of the target surface before excavation by visually confirming the displayed recommended line.

However, as shown in Fig. 7, the recommended line calculating section 35 may display the target plane 100 and the neighborhood range 101 as well. In addition, the recommended line calculating section 35 may specify the number of cycles of excavation work.

[Third embodiment]

In the first embodiment, the recommended line is calculated based on the soil quality. However, the elements used for the calculation of the recommended line are not limited to the soil, and the recommended line may be calculated by adding elements other than the soil. In the third embodiment, a description will be given of a case where a recommended line is calculated in consideration of the size, shape, and position of the buried material as elements other than the soil.

8 is a diagram illustrating an example of an image displayed on a display device when sandy soil is excavated by adding a buried material. 8, the bucket current position 61 indicating the current position of the bucket 6 and the current shape 71 of the ground to be worked on are indicated by solid lines in the image 51 shown in Fig.

When the attachment of the shovel is operated by the operator and the claw of the bucket 6 is inserted into the ground surface, the soil quality of the ground to be worked is detected by the soil detection unit 34. Here, it is assumed that the size, shape, and position of the buried substance in the ground are registered in advance in the recommended line calculating section 35 of the present embodiment. When the soil is detected by the soil detection unit 34, the recommended line calculation unit 35 of the present embodiment calculates a recommended line based on the soil so that the soil does not interfere with the buried object.

In Fig. 8, the recommended line 82 indicates a recommended line calculated by the recommended line calculating unit 35 based on the size, shape, and position of the buried substance and the detected soil quality. 8, the recommended line 72 calculated without considering the size, shape, and position of the buried object is also specified.

As shown in Fig. 8, the recommended line 72 calculated without considering the size, shape, and position of the buried material interferes with the buried object 90. Fig. On the other hand, in the case of the recommended line 82 calculated in consideration of the size, shape and position of the buried material, it does not interfere with the buried material 90.

As described above, according to the third embodiment, it is possible to calculate and display a recommended line which does not interfere with the buried object in the ground.

8, the recommended line calculating section 35 may generate an image of the buried object 90 and display it on the image 51 based on the size, shape and position of the previously registered buried object .

[Fourth Embodiment]

In each of the above-described embodiments, the position of the claws of the bucket 6 when the digging operation is viewed from the side is displayed as a recommended line and the bucket digging position is displayed. On the other hand, in the fourth embodiment, the position of the claws of the bucket 6 when the digging operation is viewed from the upper side is displayed as a recommended line, and the bucket digging position and the turning direction of the upper revolving structure 3 The turning angle) is displayed.

In general, when performing excavation work such as excavation, the operator turns the upper revolving structure 3 every cycle so that the end of the blade tip of the bucket 6 is positioned on a predetermined line.

Therefore, in the recommended line calculating section 35 of the present embodiment, the recommended line showing the position of the end of the blade tip of the bucket 6 and the recommended line indicating the position of the end of the blade of the bucket 6, An image including the bucket excavation position and the turning direction (and turning angle) of the upper revolving structure 3 is displayed.

9 is a diagram showing an example of an image when the excavating operation is viewed from the upper surface. As shown in Fig. 9, in the image 51, a recommended line 72 indicating the position of the end of the blade tip of the bucket 6 is displayed. The image 51 includes the bucket current position 61 indicating the current position of the bucket 6 and the turning direction about the turning center 300 with respect to the reference direction 200 of the bucket current position 61 201) is indicated by a solid line. However, in addition to the turning direction 201, the turning angle of the bucket current position 61 with respect to the reference direction 200 may be displayed.

In the image 51, the bucket excavation positions 62, 63 and 64 in each cycle in the case of excavation along the recommended line 72 are indicated by broken lines. The turning directions 202 to 204 around the turning center 300 with respect to the reference direction 200 of the respective bucket excavating positions 62, 63 and 64 are indicated by broken lines. However, the turning angle of the respective bucket excavation positions 62, 63, 64 with respect to the reference direction 200 may be displayed.

Thus, by displaying a recommended line or the like when the digging operation is viewed from the top, in addition to the recommended line when the digging operation is viewed from the side, the operator of the shovel can efficiently perform the digging operation.

Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made without departing from the scope of the present invention.

The present application claims priority based on Japanese Patent Application No. 2015-256681, filed on December 28, 2015, which is incorporated herein by reference in its entirety.

1 Lower traveling body
3 upper swivel
4 boom
5 Cancer
6 buckets
7 boom cylinder
8 arm cylinder
9 Bucket cylinder
30 controller
31 Terrain database update unit
32 Position Coordinate Update Unit
33 ground surface shape obtaining section
34 soil detection unit
35 Recommended Line Calculation Section
50 display device
M1 communication device
M2 positioning device
M3 position detection device
S1 Front camera

Claims (10)

A lower traveling body for performing a traveling operation,
An upper revolving structure rotatably mounted on the lower traveling body,
An attachment mounted on the upper revolving structure,
A ground shape obtaining unit for obtaining a current ground shape of a work subject,
A recommended line calculating unit for calculating a recommended line suitable for digging with the attachment in the current ground shape acquired by the ground shape obtaining unit,
And a display device for displaying the current floor shape of the work subject and the recommended line. The method according to claim 1,
Wherein the display device updates and displays the recommended line calculated by the recommended line calculating section from the ground shape after the excavation of the work subject each time excavation is performed by the attachment. The method according to claim 1,
And the recommended line calculating section calculates the recommended line for the ground shape of the work subject after being excavated by the attachment. The method according to claim 1,
Wherein the ground shape obtaining section obtains a ground shape of the work subject after excavation based on at least one of an imaging result of the excavation portion of the work subject by the imaging device and a transition of the attitude of the attachment. The method according to claim 1,
Wherein the recommended line calculating section obtains a digging length and a digging depth. The method according to claim 1,
Wherein the display device displays a digging position of the attachment to be excavated along the recommended line. The method according to claim 1,
Wherein the recommended line calculating unit calculates the recommended line based on the current ground shape of the object to be worked and the soil of the object to be worked. The method according to claim 1,
Wherein the display device displays a recommended line for a plurality of cycles from the current ground shape of the object to be processed until reaching the target surface. The method according to claim 1,
Wherein the display device displays an image representing the recommended line and the buried line calculated by the recommended line calculating unit when a recommended line that does not interfere with the buried line is calculated. The method according to claim 1,
The display device further displays a turning direction or a turning angle of the upper revolving body up to a recommended line when the work subject is viewed from above and an excavation position of the attachment when excavating along the recommended line Shobel featuring.

Images